CN103590436B - Load mechanical shovel dress Intelligent bus control system - Google Patents
Load mechanical shovel dress Intelligent bus control system Download PDFInfo
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- CN103590436B CN103590436B CN201310566243.7A CN201310566243A CN103590436B CN 103590436 B CN103590436 B CN 103590436B CN 201310566243 A CN201310566243 A CN 201310566243A CN 103590436 B CN103590436 B CN 103590436B
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Abstract
The invention discloses a kind of mechanical shovel that loads and fill Intelligent bus control system, the receipts bucket hydraulic fluid port of this system electric-hydraulic proportion pilot valve, swing arm promotes hydraulic fluid port, tipping bucket hydraulic fluid port, swing arm decline hydraulic fluid port, floating hydraulic fluid port respectively with the receipts bucket hydraulic fluid port of electric-hydraulic proportion distributing valve, swing arm promotes hydraulic fluid port, tipping bucket hydraulic fluid port, swing arm decline hydraulic fluid port, the hydraulic fluid port that floats is connected, second oil-in of electric-hydraulic proportion pilot valve is connected with the large chamber of boom cylinder, tipping bucket cylinder displacement transducer, swing arm cylinder displacement transducer, scraper bowl horizontal position sensor, master controller, falling head arranges button, lift height arranges button, automatically controlled pilot handle, engine controller is connected with bus respectively.Energy-efficient, energy loss is little.Improve stationarity and the comfortableness of complete machine work, long service life, set level better function.Stop accident, ensure handling safety.Improve operating efficiency, be conducive to upgrading and the improvement of product.For loading the control of mechanical shovel process of assembling.
Description
Technical field
The present invention relates to a kind of control system of loading mechanical shovel process of assembling.
Background technology
Current loader control system generally adopts Hydraulic guide control to reduce labour intensity, improve comfortableness, but due to the level of skill of loader operation person uneven, in order to improve operating efficiency, operator generally adopts extensive Construction Mode, little consideration, by optimization operation method, reaches energy-efficient object.
When carrying out shovel and pretending industry, because stacking material is very large to the cutting resistance of scraper bowl, operator needs to carry out repeatedly separate operations to complete spading process.Operator controls loader with certain initial velocity incision stockpile, and along with the bank accumulated amount in scraper bowl dead ahead gets more and more, loader pace sharply reduces.Now, torque-converters will export larger moment of torsion, and propelling loading machine advances, and the now inner fluid vigorous agitation of torque-converters, energy loss is very big.In order to reduce cutting resistance, user can handle pilot handle, changes scraper bowl attitude back and forth, allows partial material enter scraper bowl, and then fill up throttle, incision stockpile, until wheel-slip, then operated pilot handle, circulate and so forth.After repeatedly circulating, enough materials collected by scraper bowl, and operator hangs reverse gear again, carry out material transfer.
In material transfer process, operator needs to carry out according to the height of running distance, road speed and lorry speed and the height that comprehensive descision promotes swing arm, all repeatedly will check the lift height of swing arm when each operation.Lift height is too low, may return and encounter lorry, causes security incident; Lift height is too high not only wastes fuel oil, and reduces operating efficiency.Operator, in order to ensure construction safety, alleviate operating pressure, is more prone to swing arm to lift extreme higher position.But for the loader that the overwhelming majority does not configure lifting stopping means, boom cylinder and lifting mechanism will bear great impact loading at end of travel (comprise and give rise to extreme higher position and drop to extreme lower position), largely reduce the application life of oil cylinder and structural member.
In discharge process, because some material has larger viscosity, not easily come off in scraper bowl, user can operate scraper bowl and to collide with strength swing arm plate, is shaked out by material.The application life of operation meeting serious curtailment scraper bowl like this and bearing pin.After completing discharge process, operator needs to carry out the action of receipts bucket, until dump ram reaches the stroke of setting, then falls swing arm to shovel holding position, prepares to carry out second time and shovel dress.Although a lot of type pilot loader is configured with automatic setting level device for scraper pan, but the overwhelming majority is set level just for scraper bowl automatically setting level at ground location automatically, if scraper bowl is not put into ground location, then scraper bowl effectively cannot shovel dress, and this just limits the use setting level function to a great extent.In addition, need at many occasion loaders the facility such as configuration pallet fork to pretend industry to complete fork, now need complete machine in the total travel of moved arm lifting, have good translation performance.For present widely used reversal six-connecting-rod mechanism, although have fabulous combination property, but its translation performance is one piece of short slab, and this also limits the compliance of loader.
In the process setting level scraper bowl preparation shovel dress, how fast and safely also to annoying operator to scraper bowl is kept flat suitable shovel holding position always.It is slow that veteran operator can have urgency to have, and first quick and back slow, gently scraper bowl kept flat predetermined altitude fast, again to shovel dress.But scraper bowl is cautiously transferred or simply directly to be pounded on ground by scraper bowl by a lot of operator.Operating efficiency and comfortableness, safety place one's entire reliance upon the personal experience of operator, custom and quality, are unfavorable for upgrading and the improvement of product.
Bibliography: engineering machinery, the 40th volume, in March, 2009, experimental study " wheel loader motor many power modes energy saving research ", Meng Guangliang, Wang Liang, Li Ying warbler; Yang Zhanmin, wheel loader [M]. Beijing: Chemical Industry Press, 2006.
Summary of the invention
In order to the energy loss overcoming known loading mechanical shovel process of assembling control system is large, application life is short, set level the defect of function difference, the invention provides and a kind of load mechanical shovel dress Intelligent bus control system, this loading mechanical shovel dress Intelligent bus control system energy loss is little, long service life, set level better function.
Technical scheme of the present invention is: this loading mechanical shovel dress Intelligent bus control system comprises hydraulic oil container and working barrel, working barrel oil-in is connected with hydraulic oil container, working barrel oil-out is connected with electric-hydraulic proportion distributing valve oil-in, swing arm cylinder large chamber hydraulic fluid port, the swing arm cylinder loculus hydraulic fluid port of electric-hydraulic proportion distributing valve are connected with loculus with the large chamber of boom cylinder respectively, and the dump ram large chamber hydraulic fluid port of electric-hydraulic proportion distributing valve, dump ram loculus hydraulic fluid port are connected with loculus with the large chamber of dump ram respectively; The receipts bucket hydraulic fluid port of electric-hydraulic proportion pilot valve, swing arm promote hydraulic fluid port, tipping bucket hydraulic fluid port, swing arm decline hydraulic fluid port, the hydraulic fluid port that floats promotes hydraulic fluid port respectively with the receipts bucket hydraulic fluid port of electric-hydraulic proportion distributing valve, swing arm, tipping bucket hydraulic fluid port, swing arm decline hydraulic fluid port, floating hydraulic fluid port are connected, first oil-in of electric-hydraulic proportion pilot valve is connected with the oil-out of pioneer pump, second oil-in of electric-hydraulic proportion pilot valve is connected with the large chamber of boom cylinder, and the oil return opening of electric-hydraulic proportion pilot valve is connected with hydraulic oil container; The integrated constant displacement pump of pioneer pump and overflow valve, the oil-out of constant displacement pump is connected with the oil-in of overflow valve, and the oil-out of overflow valve is connected with hydraulic oil container; Tipping bucket cylinder displacement transducer, swing arm cylinder displacement transducer, scraper bowl horizontal position sensor, master controller, mode of operation arranges button, flattened state arranges button, facility select button, falling head arrange button, lift height arranges button, automatically controlled pilot handle, engine controller are connected with bus respectively, and bus is connected with electric-hydraulic proportion pilot valve; Electric-hydraulic proportion distributing valve oil return opening is loose by hydraulic oil, oil return cleaner is connected with hydraulic oil container, and the hydraulic oil after heat radiation gets back to hydraulic oil container through oil return cleaner; Scraper bowl tremble button and scraper bowl shake button be integrated on automatically controlled pilot handle.
In order to reduce the cutting resistance of loader scraper bowl in spading process, reduce energy loss when torque-converters low-speed big exports, the present invention introduces the scraper bowl cutting force intelligent control system of electrical-liquid control.This system can arrange the mode of operation of scraper bowl according to the type of material and loosening degree, by the high pressure flow at dump ram size two chamber input alternation in the process of scraper bowl incision stockpile, force scraper bowl with certain amplitude and vibration frequency incision stockpile, thus the ability of material resistance abolished by strengthening scraper bowl, reduce the tractive force needed for complete machine, avoid tyre slip phenomenon.
On the other hand, for improving the efficiency of pick material and receipts bucket process, the alternating movement repeatedly avoiding operator then to receive bucket by incision stockpile completes spading operation, spading process is optimized by the present invention, and optimum results is input in controller, operator only need open intelligent spading function when material cut by scraper bowl, complete machine is dug material by automatically completing with the power stage after optimization and according to the program of setting and receives the teamwork struggled against.
For different operating modes, loader needs material to be lifted to different discharge heights.In order to reduce the labour intensity of operator, the present invention adopts swing arm angular displacement sensor to detect the position of moved arm lifting and decline in real time.By the memory function of controller, can according to actual discharge height need lift height is set.So in the process of transhipment material, only pilot handle need be dialed to raised position.When swing arm rises to setting height, sensor feedback signal is to controller, and controller, by after signal transacting, controls electric proportional valve and stably swing arm is parked in desired location, and when avoiding lifting process to stop suddenly, complete machine rocks and the material that causes is poured down or forth.Loader only need be reached unloading position by operator, direct discharging.Equally, in the process that swing arm is transferred, can set the restriction of swing arm low level, after completing discharging action, operator needs swing arm to be down to desirable shovel holding position as early as possible.Now, only pilot handle need be pushed into swing arm floating position, boom cylinder is in floating repairing state, and swing arm declines fast in floating operating mode.When swing arm position is close to setting height, the signal that controller feeds back according to swing arm angular displacement sensor, operating mode of being floated by swing arm switches to decline operating mode, the speed that the swing arm that gently slows down declines, and final swing arm rests on desired location.Owing to adopting electrical-liquid control, oil cylinder and structural member almost do not impact at the end of setting stroke, not only increase stationarity and the comfortableness of complete machine work, also effectively extend the application life of complete machine.
When loader is when shoveling material that dress viscosity strengthens as wet coal, clay, discharge process often relatively slowly or to be not easy unloading clean.For avoiding operator to adopt the method for the scraper bowl that repeatedly collides with to carry out discharging, the present invention increases unloading and to tremble system.Be in relative state freely with spading process unlike now scraper bowl, there is no the constraint of stockpile, therefore allow scraper bowl to have larger vibration acceleration and amplitude, so that easier, material is shaked out.
Tradition automatically laying-down device judges scraper bowl or pallet fork whether level, and it is used as reference with the movement position of loader self mechanism.When only having loader itself to be horizontal, scraper bowl just can be horizontal.If loader leaves level ground construction, such as carry out fork at ramp pallet fork and pretend industry, now original function of automatically setting level just cannot play, and in the process of transhipment material, if run into descending, parallel with the road surface all the time words goods of pallet fork skids off from pallet fork possibly, causes accident.In order to solve above-mentioned contradiction better, the present invention expands automatically setting level function, its function is divided into two kinds of patterns.A kind of pattern is bucket mode, and controller controls electric-hydraulic proportion distributing valve by the displacement transducer feedback signal of tipping bucket cylinder and swing arm cylinder, realizes automatically setting level of any desired location of scraper bowl; Another kind is pallet fork pattern, fed back the angle of scraper bowl and horizontal plane by scraper bowl horizon sensor, after via controller process, control electric-hydraulic proportion distributing valve and repairing is carried out to the large loculus of dump ram, adjust pallet fork attitude, thus ensure to be in level all the time at non-horizontal road surface upper fork.
Advantage of the present invention: energy-efficient, energy loss is little.Improve stationarity and the comfortableness of complete machine work, long service life, set level better function.Stop accident, ensure handling safety.Improve operating efficiency, be conducive to upgrading and the improvement of product.
1) adopt bus marco to realize the selection of the mode of operation of loading in mechanical shovel process of assembling, and optimize shovel dress operation process through the mutual of data and process, increase work efficiency, reduce labour intensity;
2) adopt the action of trembling of loading shovel to reduce the reaction force of material to scraper bowl, and then tractive force required during reduction complete machine spading, the final power stage reducing motor, reaches energy-conservation object;
3) hydraulic system of integrated electrical-liquid control is adopted to realize the intelligent operation of loading mechanical shovel process of assembling, the operating process of the person of simplifying the operation, the impact eliminated operator personal experience and be accustomed to shovel process of assembling;
4) by pre-setting the protection that can realize hydraulic system executive component (oil cylinder) and structural member to operator scheme, such as pass through the setting of a lifting high position and decline status, not only can increase work efficiency and comfortableness, and the quick and stable action of swing arm can be realized under the prerequisite not increasing buffer;
5) material larger for viscosity can be thrown away from scraper bowl by the dither functions of scraper bowl, avoid the operation of operator's cruelty, suddenly knock scraper bowl, damage structural member and dump ram;
6) what can realize scraper bowl optional position sets level function automatically, especially when loader uses as fork installation, the optional position level of pallet fork can be realized, even if complete machine is in domatic work, or on fluctuating road surface, work pallet fork still the moment can keep level, substantially increases operating efficiency and safety;
7) adopt open control model, can remember, the secondary development of support control system to the setting of operator, user can expand as required or strengthen some function.
Accompanying drawing explanation
Fig. 1 is electric liquid structural principle schematic diagram of the present invention.
Fig. 2 is the first control flow chart of Fig. 1.
Fig. 3 is the second control flow chart of Fig. 1.
Fig. 4 is the third control flow chart of Fig. 1.
Fig. 5 is the 4th kind of control flow chart of Fig. 1.
Fig. 6 is the 5th kind of control flow chart of Fig. 1.
In figure: 1, hydraulic oil container, 2, working barrel, 3, electric-hydraulic proportion distributing valve, 4, boom cylinder, 5, electric-hydraulic proportion pilot valve, 6, bus, 7, tipping bucket cylinder displacement transducer, 8, swing arm cylinder displacement transducer, 9, scraper bowl horizontal position sensor, 10, master controller, 11, mode of operation arranges button, 12, flattened state arranges button, 13, facility select button, 14, falling head arranges button, 15, lift height arranges button, 16, automatically controlled pilot handle, 17, engine controller, 18, dump ram, 19, hydraulic oil falls apart, 20, oil return cleaner, 21, pioneer pump, 22, scraper bowl trembles button, 23, scraper bowl shake button, wherein 22. scraper bowls tremble button and 23. scraper bowls shake button be integrated on 16. automatically controlled pilot handles.
Detailed description of the invention
In FIG, this loading mechanical shovel dress Intelligent bus control system comprises hydraulic oil container 1 and working barrel 2, working barrel 2 oil-in is connected with hydraulic oil container 1, working barrel 2 oil-out is connected with electric-hydraulic proportion distributing valve 3 oil inlet P, swing arm cylinder large chamber hydraulic fluid port A2, the swing arm cylinder loculus hydraulic fluid port B2 of electric-hydraulic proportion distributing valve 3 are connected with loculus with the large chamber of boom cylinder 4 respectively, and dump ram large chamber hydraulic fluid port A1, the dump ram loculus hydraulic fluid port B1 of electric-hydraulic proportion distributing valve 3 are connected with loculus with the large chamber of dump ram 18 respectively; The receipts bucket hydraulic fluid port a1 of electric-hydraulic proportion pilot valve 5, swing arm promote hydraulic fluid port a2, tipping bucket hydraulic fluid port b1, swing arm decline hydraulic fluid port b2, float hydraulic fluid port 2C respectively with the receipts bucket hydraulic fluid port a1 of electric-hydraulic proportion distributing valve 3, swing arm promotes hydraulic fluid port a2, tipping bucket hydraulic fluid port b1, swing arm decline hydraulic fluid port b2, floating hydraulic fluid port 2C are connected, first oil inlet P 1 of electric-hydraulic proportion pilot valve 5 is connected with the oil-out of pioneer pump 21, second oil inlet P 2 of electric-hydraulic proportion pilot valve 5 is connected with the large chamber of boom cylinder 4, and the oil return inlet T 1 of electric-hydraulic proportion pilot valve 5 is connected with hydraulic oil container 1; The integrated constant displacement pump of pioneer pump 21 and overflow valve, for system provides the pilot control of steady pressure, the oil-out of constant displacement pump is connected with the oil-in of overflow valve, and the oil-out of overflow valve is connected with hydraulic oil container 1; Tipping bucket cylinder displacement transducer 7, swing arm cylinder displacement transducer 8, scraper bowl horizontal position sensor 9, master controller 10, mode of operation arrange button 11, flattened state arranges button 12, facility select button 13, falling head arrange button 14, lift height arranges button 15, automatically controlled pilot handle 16, engine controller 17 are connected with bus 6 respectively, and bus 6 is connected with electric-hydraulic proportion pilot valve 5; Electric-hydraulic proportion distributing valve 3 oil return inlet T is loose 19 by hydraulic oil, oil return cleaner 20 is connected with hydraulic oil container 1, and the hydraulic oil after heat radiation gets back to hydraulic oil container 1 through oil return cleaner 20.
In fig. 2, operator, by integrated different function button on automatically controlled pilot handle 16 and loader operation interface, has carried out the setting of different working modes and has switched fast.When after scraper bowl incision stockpile, the scraper bowl pressed on automatically controlled pilot handle 16 trembles button 22, control signal caught by master controller 10, control engine power on the one hand to export (engine power exports and need set in advance according to the characteristic of material), control electric-hydraulic proportion pilot valve 5 on the other hand to output signal, by electric-hydraulic proportion distributing valve 3, control dump ram 18 and realize scraper bowl dither.Scraper bowl completes stage by stage while trembling receives bucket action, the power of motor also reaches the maximum value of setting thereupon stage by stage gradually, when scraper bowl receipts bucket angle is greater than a certain set angle, tipping bucket cylinder displacement transducer 7 by position of bucket signal feedback to master controller 10, the action of trembling of scraper bowl stops automatically, and engine working mode also recovers normal simultaneously.If not yet reach setting to receive bucket angle, when but existing abundant material enters scraper bowl, operator's scraper bowl can again pressed on automatically controlled pilot handle 16 tremble button 22 or handle automatically controlled pilot handle 16 carry out lifting swing arm or receive bucket operation, the action of trembling of scraper bowl stops immediately.
In figure 3, after loader completes spading process, operator operates machine and exits spading region, automatically controlled pilot handle 16 is allocated to swing arm raised position simultaneously, the swing arm lifting electromagnetic actuation that automatically controlled pilot handle 16 is built-in, swing arm is in automatic lifting to desired location, and then electromagnet disconnects, and swing arm slowly stops.The restriction of a moved arm lifting high position and the restriction of decline low level can set respectively by the high-order limit button 15 of the moved arm lifting on control panel and decline low level restriction 14.By moved arm lifting to the height wanting to set, then more than moved arm lifting high-order limit button 15 3 second is pinned, position is before arranged removing by master controller 10, remember the position signalling that now boom cylinder displacement transducer 8 feeds back, now press the high-order limit button 15 of moved arm lifting can confirm to arrange, again press the setting that this button then can cancel or recover last afterwards.Same method can complete swing arm decline low level and arrange.Can be realized the floating mode of swing arm fast drop course by programming Control, end of travel carries out one section of buffering again, realizes swing arm quick and stable and declines.
In the diagram, after operator completes discharging, if need the material remained in scraper bowl to shake out, the scraper bowl shake button 23 on automatically controlled pilot handle 11 can be pressed, control signal caught by master controller 10, control electric-hydraulic proportion pilot valve 5 to output signal, realize scraper bowl low frequency large amplitude, high acceleration vibration by electric-hydraulic proportion distributing valve 3, salvage stores is thrown away.
In Figure 5, be provided with flattened state on the control panel and button 12 is set to realize the demand of complex working condition.When ground grading using scraper bowl construct, press flattened state and button 12 is set, scraper bowl optional position is selected automatically to set level function, now master controller 10 obtains the displacement signal from tipping bucket cylinder displacement transducer 7 and swing arm cylinder displacement transducer 8 feedback, after master controller 10 processes, output signal by controlling electric-hydraulic proportion pilot valve 5, control finally by electric-hydraulic proportion distributing valve 3 the hydraulic pressure oil mass entering the large loculus of dump ram 18, the optional position in decline process realizing scraper bowl is set level automatically.
In figure 6, on ramp or when fluctuating pavement usage pallet fork is constructed, press flattened state to arrange button 12 and select pallet fork optional position automatically to set level function, now master controller 10 is selected to obtain signal from scraper bowl horizon sensor 9, output signal by controlling electric-hydraulic proportion pilot valve 5, control finally by electric-hydraulic proportion distributing valve 3 the hydraulic pressure oil mass entering the large loculus of dump ram 18, the optional position in decline process realizing scraper bowl is set level automatically; Now tipping bucket cylinder displacement transducer 7 detects the displacement output of dump ram 18; and feed back to master controller 10; real-time adjustment scraper bowl attitude, thus pallet fork moment maintenance level in whole spading, lifting and transhipment, uninstall process is guaranteed in the angular deviation between auto-compensation pallet fork plane and horizontal plane.
Claims (1)
1. a loading mechanical shovel dress Intelligent bus control system, this loading mechanical shovel dress Intelligent bus control system comprises hydraulic oil container and working barrel, it is characterized in that: working barrel oil-in is connected with hydraulic oil container, working barrel oil-out is connected with electric-hydraulic proportion distributing valve oil-in, swing arm cylinder large chamber hydraulic fluid port, the swing arm cylinder loculus hydraulic fluid port of electric-hydraulic proportion distributing valve are connected with loculus with the large chamber of boom cylinder respectively, and the dump ram large chamber hydraulic fluid port of electric-hydraulic proportion distributing valve, dump ram loculus hydraulic fluid port are connected with loculus with the large chamber of dump ram respectively; The receipts bucket hydraulic fluid port of electric-hydraulic proportion pilot valve, swing arm promote hydraulic fluid port, tipping bucket hydraulic fluid port, swing arm decline hydraulic fluid port, the hydraulic fluid port that floats promotes hydraulic fluid port respectively with the receipts bucket hydraulic fluid port of electric-hydraulic proportion distributing valve, swing arm, tipping bucket hydraulic fluid port, swing arm decline hydraulic fluid port, floating hydraulic fluid port are connected, first oil-in of electric-hydraulic proportion pilot valve is connected with the oil-out of pioneer pump, second oil-in of electric-hydraulic proportion pilot valve is connected with the large chamber of boom cylinder, and the oil return opening of electric-hydraulic proportion pilot valve is connected with hydraulic oil container; The integrated constant displacement pump of pioneer pump and overflow valve, the oil-out of constant displacement pump is connected with the oil-in of overflow valve, and the oil-out of overflow valve is connected with hydraulic oil container; Tipping bucket cylinder displacement transducer, swing arm cylinder displacement transducer, scraper bowl horizontal position sensor, master controller, mode of operation arranges button, flattened state arranges button, facility select button, falling head arrange button, lift height arranges button, automatically controlled pilot handle, engine controller are connected with bus respectively, and bus is connected with electric-hydraulic proportion pilot valve; Electric-hydraulic proportion distributing valve oil return opening is loose by hydraulic oil, oil return cleaner is connected with hydraulic oil container, and tremble button and scraper bowl of scraper bowl is shaken button and be integrated on automatically controlled pilot handle.
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